CN110986874A - Height measurement system and method based on barometer and micro-electromechanical inertia measurement element - Google Patents

Height measurement system and method based on barometer and micro-electromechanical inertia measurement element Download PDF

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CN110986874A
CN110986874A CN201911266256.6A CN201911266256A CN110986874A CN 110986874 A CN110986874 A CN 110986874A CN 201911266256 A CN201911266256 A CN 201911266256A CN 110986874 A CN110986874 A CN 110986874A
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means

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Abstract

The invention relates to a height measuring system and a height measuring method based on a barometer and a micro-electromechanical inertia measuring element, which comprises the following steps: the method comprises the following steps: judging the walking state of the person according to a height measurement value output by the micro-electromechanical inertia measurement element; step two: obtaining a rough height value through the difference value of the air pressure values output by the barometer; step three: and filtering the rough height value according to different walking states to obtain an accurate height value. The height measurement precision of the invention is higher than that of single barometer measurement or single micro-electromechanical inertia measurement element measurement; the height fluctuation can not occur when the vehicle walks on the flat ground, so that the stability of the output of the height value is improved; the algorithm complexity is low, and the engineering implementation is easy.

Description

Height measurement system and method based on barometer and micro-electromechanical inertia measurement element
Technical Field
The invention belongs to the field of indoor positioning, and particularly relates to a height measuring system and a height measuring method based on a barometer and a micro-electromechanical inertia measuring element.
Background
With the rapid development of wireless communication technology and the increasing popularity of mobile intelligent terminals, Location-based services (LBS) have become an important component of the intelligent society. In addition to the positioning of people in emergency help seeking situations, LBS has been widely applied in the fields of military and national defense, transportation, modern logistics, geodetic surveying and mapping, etc., and is currently developing towards more colorful and innovative mobile location services with huge market potential, such as location-based social contact, advertisement, and mobile search lights. These innovative location services are based on the mobile internet and require real-time acquisition of accurate geographical location information of the user in all indoor and outdoor spaces.
For positioning in an outdoor environment, a Global Navigation Satellite System (GNSS) has been widely used as a positioning means covering the world. In addition to the Global Positioning System (GPS) which is the earliest and the most perfect, the BeiDou Global navigation satellite System (BD) is also built in China, but the GNSS including the BeiDou and the GPS has a common defect that the signal is shielded and cannot work in an indoor environment.
In order to solve the problem of indoor positioning, experts and scholars at home and abroad propose a series of technical solutions, for example: mobile communication network based assisted GPS (a-GPS), Pseudolite (Pseudolite), Wireless Local Area Network (WLAN), radio frequency tags (RFID), Zigbee, Bluetooth (BT), Ultra Wide Band (UWB), other satellite or terrestrial digital communication and broadcast signals, infrared positioning, light tracking positioning, computer vision positioning, ultrasonic positioning, etc. The indoor positioning method based on the micro-electromechanical inertial measurement element has the characteristics of high precision, strong anti-interference capability, no need of laying an environment in advance and the like, and is widely applied to the fields of fire fighting positioning, mine positioning, personnel search and rescue and the like.
However, since the positioning system based on the micro-electromechanical inertial measurement unit has accumulated errors, how to accurately measure the height is one of the difficulties of the system. The height measuring method based on the barometer and the micro-electromechanical inertia measuring element can solve the problem.
Disclosure of Invention
The invention mainly aims at the problems and provides a height measuring method based on a barometer and a micro-electromechanical inertia measuring element. Obtaining a preliminary height measurement value by using an air pressure value output by an air pressure meter; then, the height difference calculation at intervals of 1 second is carried out by utilizing the height measurement value output by the micro-electromechanical inertia measurement element, so as to judge the walking state of the person; and finally, correcting the primary height measurement result obtained by the barometer by using the walking state information of the user to obtain a final height measurement result.
The technical problem of the invention is implemented by the following technical scheme: a height measuring method based on a barometer and a micro-electromechanical inertial measurement unit is characterized by comprising the following steps:
the method comprises the following steps: judging the walking state of the person according to a height measurement value output by the micro-electromechanical inertia measurement element;
step two: obtaining a rough height value through the difference value of the air pressure values output by the barometer;
step three: and filtering the rough height value according to different walking states to obtain an accurate height value.
Preferably, in the first step, the walking state of the person is determined by calculating the difference between the height measurement values output by the micro-electromechanical inertia measurement element at time intervals of 1 second by using the short-time high-precision characteristic of the micro-electromechanical inertia measurement element.
Preferably, the walking state of the person includes a walking state in a plane, a downstairs state and an upstairs state;
the judgment formula is as follows: formula (1);
Figure BDA0002312926980000021
wherein h iskHeight value, hd, output by the microelectromechanical inertial measurement unit at time kkThe difference between the height values output by the micro-electromechanical inertia measurement element at the time k and the time k-1 is α, β, a downstairs judgment threshold value, flat, down and up, wherein the flat is in a walking plane state, the down is in a downstairs state and the up is in an upstairs state.
Preferably, in the second step, the rough height value calculation formula is: formula (8);
Figure BDA0002312926980000022
set the height of the starting point as HcAt a pressure of PcAt a temperature ofTc(ii) a The air pressure of the point to be measured is P; t ism＝(Tc+T)/2；
RdIs a gas constant of 287.05287m2/(s2K)。
Preferably, in the third step, the state judgment result output by the micro-electromechanical inertia measurement element is used for smoothing, and the flow of the smoothing is as follows:
① when the height is determined to be flat, the calculation result of the barometer is not read, and the height measurement value is kept unchanged;
② when the state is down, reading the calculation result of the barometer as the height measurement value;
③ when it is judged as up state, the calculation result of the barometer is read as the height measurement value.
The calculation process of the rough height value calculation formula is as follows:
1. the rough altitude value is obtained through the difference value of the air pressure value output by the barometer, and the ideal atmosphere equation is as follows:
formula (2):
P＝ρRdT
where P is atmospheric pressure, ρ is air density, RdIs a gas constant of 287.05287m2/(s2K) And T is the thermodynamic temperature of air in Kelvin.
2. According to the atmospheric statics equation, the relationship between atmospheric pressure and altitude is:
formula (3):
dP＝-ρgdH
wherein g is the gravitational acceleration of the height, and H is the height.
Substituting equation (3) into equation (2) yields equation (4):
Figure BDA0002312926980000031
3. in a small range, integrating equation (4) without considering gravity and temperature variations, there is equation (5):
Figure BDA0002312926980000032
the formula (6) can be derived:
Figure BDA0002312926980000033
4. if H is00, i.e. average sea level height, average sea level atmospheric pressure P0＝101325Pa；
Let g be 9.8m/s2T is 300K; equation (6) can be simplified to equation (7):
Figure BDA0002312926980000041
the atmospheric variation of the measuring point is random under normal conditions and does not meet various parameter indexes of the standard atmosphere. The relative air pressure height measurement is adopted, so that the influence of atmospheric physical change on height measurement can be weakened.
5. Assume a starting point height of HcAt a pressure of PcAt a temperature of Tc(ii) a The air pressure of the point to be measured is P, and the temperature is T; in a small indoor range, the height of the point to be measured obtained according to the formula (6) is calculated according to a formula (8):
Figure BDA0002312926980000042
wherein T ism＝(Tc+ T)/2; therefore, the rough height value is obtained through the difference value of the air pressure values output by the barometer. However, because the barometer has a measurement error, the rough height value needs to be filtered through a walking state, so that an accurate height value is obtained.
A height measuring system based on a barometer and a micro-electromechanical inertia measuring element is characterized by comprising a barometer height measuring module, a human walking state judging module and a height value smooth updating module.
The input source of the barometer height measurement module is an air pressure value and a temperature value measured by a barometer element in real time, and the rough height value is obtained through the difference value of the air pressure value output by the barometer.
The input source of the human walking state judging module is a micro-electromechanical inertia measuring element, a height measuring value z with accumulated errors is output, and the walking state of the human is judged according to the height difference value at intervals of 1 second, wherein the walking state comprises three modes of walking on the flat ground, going upstairs and going downstairs.
The height value smooth updating module smoothly updates the rough height value output by the barometer height measuring module by using the walking state information of people, so that an accurate final height calculation result is obtained.
In summary, compared with the prior art, the invention has the following advantages:
the invention obtains a preliminary height measurement result by utilizing the difference information of the air pressure value output by the barometer. And then, calculating the height difference at intervals of 1 second by using a three-dimensional positioning result, namely a z coordinate value in the position information (x, y, z), output by an indoor positioning algorithm of the micro-electromechanical inertial measurement element. Thereby correcting the preliminary height measurement result obtained by the air pressure difference to obtain an accurate height measurement result; the height measurement precision of the invention is higher than that of single barometer measurement or single micro-electromechanical inertia measurement element measurement; the invention can not generate height fluctuation when walking on flat ground, thereby improving the stability of outputting the height value; the algorithm of the invention has low complexity and is easy to realize in engineering.
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FIG. 1 is a system block diagram of the present invention;
FIG. 2 is an algorithmic flow chart of the present invention;
FIG. 3 is a height measurement example of the present invention.
The reference numbers in the figures are: 1. calculating the height of the micro-electromechanical inertia measuring element; 2. calculating the height of the barometer; 3. the method of the invention calculates the result of height.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Example 1:
as shown in fig. 1, a system overview block diagram of a height measurement method based on a barometer and a micro-electromechanical inertial measurement unit; mainly comprises three modules: a barometer height measurement module; a human walking state judgment module; and the height value smooth updating module. The input source of the barometer height measurement module is an air pressure value and a temperature value measured by a barometer element in real time, and the rough height value is obtained through the difference value of the air pressure value output by the barometer. The input source of the human walking state judgment module is a micro-electromechanical inertia measurement element, can output a height measurement value z with accumulated errors, and judges the walking state of a human through a height difference value at intervals of 1 second, wherein the walking state comprises three types of walking on the flat ground, going upstairs and going downstairs. The height value smooth updating module is used for smoothly updating the rough height value output by the barometer height measuring module by using the walking state information of people so as to obtain an accurate final height calculation result.
FIG. 2 is a flow chart of a height measurement algorithm based on a barometer and a micro-electromechanical inertial measurement unit, the algorithm is implemented with the following specific steps:
(1) reading height data calculated by micro-electromechanical inertia measuring element
The micro-electromechanical inertial measurement unit obtains the three-dimensional position (x, y, z) of the person through the acceleration information output by the accelerometer and the angular velocity information output by the gyroscope, wherein z is a height calculation value.
(2) The walking state of a person is judged through a height value z output by a micro-electromechanical inertia measuring element
Due to the existence of accumulated errors, the height calculated value z output by the micro-electromechanical inertia measuring element cannot be directly used. However, the short-time precision of the micro-electromechanical inertia measuring element is higher, and the walking state of a person can be judged by calculating the difference of the height values output by the micro-electromechanical inertia measuring element at the time interval of 1 second. The walking state refers to three states of walking on the flat ground, going upstairs and going downstairs. The judgment formula is as follows:
Figure BDA0002312926980000061
wherein h iskHeight value, hd, output by the microelectromechanical inertial measurement unit at time kkThe difference between the height values output by the MEMS inertial measurement units at the time k and the time k-1 is α, which is the step downJudging a threshold value, β is an upstairs judging threshold value, flat is in a walking plane state, down is in a downstairs state, and up is in an upstairs state.
(3) Data filtering of air pressure values and temperature values
The air pressure value and the temperature value output by the barometer element have noise and can fluctuate, in order to improve the robustness of the system, the median filtering processing needs to be carried out on the air pressure value and the temperature value, and the length of a median filtering window is selected to be 21 sampling points.
(4) Obtaining a rough height value by the difference of the air pressure values output by the barometer
The ideal atmosphere equation is:
P＝ρRdT (10)
where P is atmospheric pressure, ρ is air density, RdIs a gas constant of 287.05287m2/(s2K) T) is the thermodynamic temperature of air in kelvin.
According to the atmospheric statics equation, the relationship between atmospheric pressure and altitude is:
dP＝-ρgdH (11)
wherein g is the gravitational acceleration of the height, and H is the height.
Bringing (11) into (10) yields:
Figure BDA0002312926980000062
over a small range, integrating equation (12), regardless of gravity and temperature variations, then there is:
Figure BDA0002312926980000063
the following can be obtained:
Figure BDA0002312926980000064
if H is00, i.e. average sea level height, average sea level atmospheric pressure P0101325 Pa. Let g be 9.8m/s2And T is 300K. Then equation (14) can be simplified to：
Figure BDA0002312926980000071
The atmospheric variation of the measuring point is random under normal conditions and does not meet various parameter indexes of the standard atmosphere. The relative air pressure height measurement is adopted, so that the influence of atmospheric physical change on height measurement can be weakened.
Assume a starting point height of HcAt a pressure of PcAt a temperature of Tc(ii) a The air pressure of the point to be measured is P, and the temperature is T. In a small indoor range, the height of the point to be measured can be calculated according to the formula (14) as follows:
Figure BDA0002312926980000072
wherein T ism＝(Tc+T)/2。
Therefore, the rough height value is obtained through the difference value of the air pressure values output by the barometer.
(5) Filtering the rough height value through the walking state to obtain a precise height value
Because the air pressure value measured by the barometer fluctuates, when the vehicle travels on flat ground, the state judgment result output by the micro-electromechanical inertia measurement element needs to be used for smoothing. The flow of the smoothing treatment is as follows:
① when the height is determined to be flat, the calculation result of the barometer is not read, and the height measurement value is kept unchanged;
② when the state is down, reading the calculation result of the barometer as the height measurement value;
③ when it is judged as up state, the calculation result of the barometer is read as the height measurement value.
Through the three steps, the height value output by the barometer is smoothed by using the walking state information of the person provided by the micro-electromechanical inertia measurement element, so that the height measurement precision and stability are improved.
Fig. 3 is an example of height measurement, and the actual scene is to go from floor 1 to floor 3, and then return from floor 3 to floor 1.
The data are as follows:
Figure BDA0002312926980000073
Figure BDA0002312926980000081
Figure BDA0002312926980000091
Figure BDA0002312926980000101
in fig. 3, line 1 is the height calculation result of the mems inertial measurement unit, and it can be seen that the height value does not match the real situation due to the accumulated error.
The line 2 is a calculation result of the height of the barometer, which substantially corresponds to the real situation, but the height value has an error when walking on the flat ground due to the fluctuation of the air pressure value.
Line 3 is a height measurement method based on a barometer and a micro-electromechanical inertial measurement unit according to the invention, and it can be seen that the results obtained by the method are better than the results obtained by the micro-electromechanical inertial measurement unit and the barometer alone.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (6)

1. A height measuring method based on a barometer and a micro-electromechanical inertial measurement unit is characterized by comprising the following steps:
the method comprises the following steps: judging the walking state of the person according to a height measurement value output by the micro-electromechanical inertia measurement element;
step two: obtaining a rough height value through the difference value of the air pressure values output by the barometer;
step three: and filtering the rough height value according to different walking states to obtain an accurate height value.
2. The height measurement method based on the barometer and the micro-electromechanical inertia measurement element according to claim 1, wherein the step one is to determine the walking state of the person by calculating the difference of the height measurement values output by the micro-electromechanical inertia measurement element at 1 second time intervals by using the short-term high-precision characteristic of the micro-electromechanical inertia measurement element.
3. The barometer and microelectromechanical inertial measurement unit-based height measurement method of claim 2, wherein the walking state of the person comprises walking in a level state, a downstairs state, an upstairs state;
the judgment formula is as follows: formula (1);
Figure FDA0002312926970000011
wherein h iskHeight value, hd, output by the microelectromechanical inertial measurement unit at time kkThe difference between the height values output by the micro-electromechanical inertia measurement element at the time k and the time k-1 is α, β, a downstairs judgment threshold value, flat, down and up, wherein the flat is in a walking plane state, the down is in a downstairs state and the up is in an upstairs state.
4. The method for measuring height based on barometer and microelectromechanical inertial measurement unit of claim 3, wherein in step two, the rough height value is calculated by the formula: formula (8);
Figure FDA0002312926970000012
set the height of the starting point as HcAt a pressure of PcAt a temperature of Tc(ii) a The air pressure of the point to be measured is P；Tm＝(Tc+T)/2；RdIs a gas constant of 287.05287m2/(s2K)。
5. The method for measuring height based on a barometer and a micro-electromechanical inertia measurement element according to claim 4, wherein the third step is to perform a smoothing process by using the state judgment result output by the micro-electromechanical inertia measurement element, and the flow of the smoothing process is as follows:
① when the height is determined to be flat, the calculation result of the barometer is not read, and the height measurement value is kept unchanged;
② when the state is down, reading the calculation result of the barometer as the height measurement value;
③ when it is judged as up state, the calculation result of the barometer is read as the height measurement value.
6. A height measurement system based on a barometer and a micro-electromechanical inertia measurement element is characterized by comprising a barometer height measurement module, a human walking state judgment module and a height value smooth updating module;
the input source of the barometer height measurement module is an air pressure value and a temperature value measured by a barometer element in real time, and the rough height value is obtained through the difference value of the air pressure values output by the barometer;
the input source of the human walking state judgment module is a micro-electromechanical inertia measurement element, a height measurement value z with accumulated errors is output, and the walking state of the human is judged according to the height difference value at intervals of 1 second, wherein the walking state comprises three types of walking on the flat ground, going upstairs and going downstairs;
the height value smooth updating module smoothly updates the rough height value output by the barometer height measuring module by using the walking state information of people, so that an accurate final height calculation result is obtained.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102821464A (en) * 2012-08-13 2012-12-12 北京邮电大学 Indoor storey positioning method and device
CN105247320A (en) * 2013-05-31 2016-01-13 旭化成株式会社 Device for identifying changes in vertical direction using pressure measurement values
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Application publication date: 20200410